Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7298
Title: Structural compliance effects on the accuracy and safety of a R-CUBE haptic device
Authors: Carbone, Giuseppe
Acinapura, Antonio
Mundo, Domenico
Görgülü, İbrahimcan
Dede, Mehmet İsmet Can
Görgülü, İbrahimcan
Dede, Mehmet İsmet Can
Izmir Institute of Technology. Mechanical Engineering
Keywords: Haptic devices
Parallel robots
Stiffness
Issue Date: 2019
Publisher: Springer Verlag
Source: Carbone, G., Acinapura, A., Mundo, D., Görgülü, İ., and Dede, M. İ. C. (2019). Structural compliance effects on the accuracy and safety of a R-CUBE haptic device. In Berns K., Görges D. (Eds.), Paper presented at the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), Kaiserslautern; Germany (pp. 463-470). Cham: Springer.
Abstract: This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.
Description: 28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019; Kaiserslautern; Germany; 19 June 2019 through 21 June 2019
URI: https://doi.org/10.1007/978-3-030-19648-6_53
https://hdl.handle.net/11147/7298
ISBN: 978-3-030-19647-9
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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